Technical Specifications: Mounting Information: Please see back cover for DE-STA-CO Global Locations.

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1.170

RP SERIES

Pneumatic Specifications Imperial Metric Pressure Operating Range 40-100 psi 3-7 bar

Cylinder Type Double Acting

Dynamic Seals Internally Lubricated Buna-N

Valve Required to Operate 4-way, 2-position

Air Quality Requirements

Air Filtration 40 Micron or Better

Air Lubrication Not Necessary* Air Humidity Low Moisture Content (dry)

Temperature Operating Range

Buna-N Seals (standard) -30°~180° F -35°~80° C

Viton®_{Seals (optional)}_{-20°~300° F -30°~150° C}

Maintenance Specifications†

Expected Life

Normal Application 5 million cycles

w/ Preventative Maintenance 10+ million cycles* Field Repairable Yes

Seal Repair Kits Available Yes

Application Restrictions • Dirty or gritty environments

• Machining operations generating chips • Environments with loose particulate

• Applications where mechanism lubricant could cause contamination

*Addition of lubrication will greatly increase service life †_{See Maintenance Section}

Technical Specifications:

Grippers can be mounted & operated in any orientation

Warning!Protect jaw mechanism from falling

debris when mounted upside down

Fingers attach to jaws with screws and locate by keying Body mounts with

screws and locates with slip fit dowel pins

for accuracy

Mounting Information:

• General purpose:

This style gripper is the most widely used in the industry. It is a rugged design and supplies very high grip force.

• Small parts handling:

Compact size, high gripping force, and extended jaw design facilitates finger attachment for smaller parts. • Robotic applications:

High grip force to weight ratio make these grippers very popular on small robots.

• Miniature Size:

Allows banks of grippers to be mounted in close proximity for multiple part picking and placing.

Parallel

Grippers-Miniature Series

Double Wedge

G 1.170-1.185 (RP)_RP (1.116-1.131) 2/14/11 11:36 PM Page 170

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1.171

RP SERIES

See

Page

1.173

Style

-RP Parallel Gripper

Size

-10M

• A double acting piston is connected by a shaft to a double sided wedge. • The wedge slides in a slot located in each of the jaws converting vertical motion

of the wedge into horizontal synchronous motion of the jaws. • The large surface area of the wedge minimizes frictional wear. • This gripper is suitable for internal or external gripping.

Closed Position

Product Features

Operating Principle

Designed and manufactured in the USA

Style: RP-10 RP-10M Stroke: 1/4 in. 6.4 mm Grip Force: 40 lb 175 N Weight: .28 lb .13 Kg Style: RP-5 RP-5M Stroke: .16 in. 4.1 mm Grip Force: 35 lb 156 N Weight: .18 lb .08 Kg See Page

1.172

Open Position

Style

Size

-5M

Pressure Exhaust Pressure Exhaust One Piece Body One piece 7075-T6 aircraft quality aluminum body

Hard Coat Anodize

The body has hard-coat anodize 60 RC with Teflon®

impregnation

Quality Components

Dynamic components are hardened for wear resistance

and long life

Rugged Construction

Jaws are supported throughout the length

of the body and are precision ground for minimal jaw play

Optional RP-5 Spring Close

RP-5 has an optional spring closed feature for failsafe operation

Dowel Holes

Slip fit dowel pin holes in body

Sensors/ Mounting Kit

Read position of jaw (Sold Separately)

Self Lubricating Seals

Self lubricating dynamic seals (Buna-N only)

Accessory Mounting Holes

(Mounts sensors to unit)

Body

Shaft

Bottom Plate Jaw

Cap Piston Double Wedge Style: RP-5 RP-5M Stroke: .16 in. 4.1 mm Grip Force:* 40 lb 178 N Weight: .18 lb .08 Kg

*Grip force with spring assist

Style

Size

-5M-FS

See

Page

1.172

Note:Please refer to our new DPDS/DPDL Series grippers found on pages 1.134-1.157. The RP Series is still available for sale and the related information remains available on our website but we encourage you to consider the new DPDS/DPDL Series grippers found on pages 1.134-1.157 for new projects.

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1.172

RP SERIES

How to Order:

(Order Accessories separately from Basic Model)

INDUCTIVE SENSORS AND MOUNTING KIT 1.06 [27] FAILSAFE VALVE 2.42 [61] .63 [16] L C (JAWS SHOWN IN OPEN POSITION) L C L C L C 2X #4-40 X .38 DP [M3 X 9 DP] 2X Ø .0938 SF X .25 DP [Ø 3 H7 X 6 DP] OPEN 2X #10-32 [M5] AIR PORTS (CLOSE) 1.14 ± .015 [29 ± .4] (OPEN) .97 [24] (CLOSED) .250 [6.4] .19 [5] .50 [13] 1.178 [29.9] 1.437 [36.5] 4X #6-32 [M3] THRU .5000 [12.70] .9375 [23.81] 1.125 [28.6] 1.000 [25.4] .75 [19] .312 [7.9] .125[3.2] .562 +.000 -.002 14.27 +0.00 -0.05 2X #4-40 X .12 DP [M3 X 3 DP] (SENSOR MNTG HOLES, DO NOT EXCEED DEPTH) .50 [13]

.53 [13]

Loading Information

Specifications RP-5 RP-5M

Total Rated Grip Force F @ 100 psi, 7 bar35 lb 156 N Stroke... .16 in. 4.1 mm Weight ... 0.18 lb 0.08 Kg Pressure Range... 40-100 psi 3-7 bar Cylinder Bore Ø ... 0.750 in. 19.1 mm Displacement ... 0.042 in3_{. 0.7 cm}3 Temperature Range

Standard Seals... -30°~180° F -35°~80° C Viton® _{Seals ... -20°~300° F -30°~150° C} Actuation ... 0.14 sec. 0.14 sec. Accuracy ... ±0.001 in. ±0.03 mm Repeatability ... ±0.0005 in. ±0.01 mm Valve required to actuate ... 4-way, 2-position

F/2 F/2 C T Mz Mz Mx L My 20 15 10 5 0 89 67 44 22 0 lbs. N

EFFECTIVE FINGER LENGTH - L

FINGER FORCE

F/2

GRIP FORCE PER FINGER

0 0 1 25 2 50 3 in. 75mm WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 PSI [7 bar] 40 PSI [2.7 bar] 60 PSI _{[4.1 bar]} 80 PSI [5.5 bar]

Failsafe Spring Closed - 0 PSI [0 bar]

PARALLEL GRIPPER RP-5

M-FS

MINIATURE DOUBLE WEDGE SERIES

RP-5

M

-

FS

-

V

METRIC

BASIC MODEL

FAIL SAFE CLOSED

VITON

®

SEALS

(Refer to Spring Assist Gripper section for more information)

Loading Capacity

† Static Dynamic

Imperial Metric Imperial Metric

Maximum Tensile T 50 lbs. 222 N 7 lbs. 31 N Maximum Compressive C 75 lbs. 334 N 12 lbs. 53 N Maximum Moment Mx 30 in.-lbs. 3.4 Nm 5 in.-lbs. 0.6 Nm Maximum Moment My 30 in.-lbs. 3.4 Nm 5 in.-lbs. 0.6 Nm Maximum Moment Mz 30 in.-lbs. 3.4 Nm 5 in.-lbs. 0.6 Nm

†_{Capacities are per set of jaws and are not simultaneous}

SENSOR ACCESSORIES ORDER # QTY/UNIT

Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-001 1

NPN Inductive Sensor with Quick Disconnect*_{OISN-019 1 or 2} PNP Inductive Sensor with Quick Disconnect*_{OISP-019 1 or 2} Quick Disconnect 2 Meter Cable Length*_{CABL-010 1 or 2} Quick Disconnect 5 Meter Cable Length*_{CABL-013 1 or 2} PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV-001 1

Fail Safe Valve (Metric) OFSV-004 1

Standard Seal Repair Kit SLKT-052 1

Viton® _{Seal Repair Kit}_{SLKT-052V 1}

*Sensor and cable sold separately. Third Angle Projection Dimensions are

symmetrical about centerline

Imperial in. Metric [mm]

0.00 = ± .01 [0.] = [± .25] 0.000 = ± .005 [0.0] = [± .13] 0.0000 = ± .0005 [0.00] = [± .013] All Dowel Holes are SF (Slip Fit).

Locational Tolerance ±.0005" or [±.013mm]

UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW

Metric Threads Course Pitch

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1.173

RP SERIES

PARALLEL GRIPPER RP-10

M

MINIATURE DOUBLE WEDGE SERIES

L C (JAWS SHOWN IN OPEN POSITION) L C CL L C 1.2500 [31.75] .250 [6.4] 1.126 [28.6] 1.470 [37.3] 4X #6-32 [M4] THRU OPEN 2X #10-32 [M5] AIR PORTS (CLOSE) 2X #6-32 X .25 DP [M4 X 6 DP] 1.250 [31.7] 1.500 [38.1] .5000 [12.70] .625 +.000_-.002 15.88 +0.00_-0.05 .76 ± .015 [19 ± .4] (OPEN) .50 [12] (CLOSED) .78 [20] .19 [5] _{.37 [9]} .313 [8.0] .16 [4] 2X #2-56 X .18 DP [M3 x 4 DP] (SENSOR MNTG HOLES) .937 [23.8] .91 [23] 2X Ø .1250SF X .25 DP [Ø 3 H7 X 6 DP]

Loading Information

Specifications RP-10 RP-10M

Total Rated Grip Force F @ 100 psi, 7 bar40 lb 178 N Stroke... 0.25 in. 6.4 mm Weight ... 0.28 lb 0.13 Kg Pressure Range... 40-100 psi 3-7 bar Cylinder Bore Ø ... 1.00 in. 25.4 mm Displacement ... 0.098 in3_{. 1.6 cm}3 Temperature Range

Standard Seals... -30°~180° F -35°~80° C Viton® _{Seals ... -20°~300° F -30°~150° C} Actuation ... 0.13 sec. 0.13 sec. Accuracy ... ±0.001 in. ±0.03 mm Repeatability ... ±0.0005 in. ±0.01 mm Valve required to actuate ... 4-way, 2-position

20 15 10 5 0 89 67 44 22 0 lbs. N

EFFECTIVE FINGER LENGTH - L

FINGER FORCE

F/2

GRIP FORCE PER FINGER

0 0 1 25 2 50 3 in. 75mm WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 PSI [7 bar] 40 PSI [2.7 bar] 60 PSI [4.1 bar] 80 PSI _{[5.5 bar]}

How to Order:

(Order Accessories separately from Basic Model)

FAILSAFE VALVE INDUCTIVE SENSORS AND

MOUNTING KIT 1.23 [31] 2.54 [65] .63 [16]

RP-10

M V

-METRIC

BASIC MODEL

VITON

®

SEALS

F/2 F/2 C T Mz Mz Mx L My

Loading Capacity

† Static Dynamic

Imperial Metric Imperial Metric

Maximum Tensile T 100 lbs. 445 N 15 lbs. 67 N Maximum Compressive C 150 lbs. 667 N 25 lbs. 111 N Maximum Moment Mx 90 in.-lbs. 10.2 Nm 15 in.-lbs. 1.5 Nm Maximum Moment My 90 in.-lbs. 10.2 Nm 15 in.-lbs. 1.5 Nm Maximum Moment Mz 90 in.-lbs. 10.2 Nm 15 in.-lbs. 1.5 Nm

†_{Capacities are per set of jaws and are not simultaneous}

SENSOR ACCESSORIES ORDER # QTY/UNIT

Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-002 1

NPN Inductive Sensor with Quick Disconnect*_{OISN-019 1 or 2} PNP Inductive Sensor with Quick Disconnect*_{OISP-019 1 or 2} Quick Disconnect 2 Meter Cable Length*_{CABL-010 1 or 2} Quick Disconnect 5 Meter Cable Length*_{CABL-013 1 or 2} PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV-001 1

Fail Safe Valve (Metric) OFSV-004 1

Standard Seal Repair Kit SLKT-036 1

Viton® _{Seal Repair Kit}_{SLKT-036V 1}

*Sensor and cable sold separately. Third Angle Projection Dimensions are

symmetrical about centerline

Imperial in. Metric [mm]

0.00 = ± .01 [0.] = [± .25] 0.000 = ± .005 [0.0] = [± .13] 0.0000 = ± .0005 [0.00] = [± .013] All Dowel Holes are SF (Slip Fit).

Locational Tolerance ±.0005" or [±.013mm]

UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW

Metric Threads Course Pitch

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1.174

RP SERIES

MAINTENANCE

RP-5 &10 Series Exploded View

Item Qty Name 01 1 Body 02 2 Jaw 03 1 Cap 04 1 Piston 05 1 Plate,Bottom 06 1 Shaft/Wedge 07* 1 Gib 30* 4 SSS,Cup Point * RP-10 Only

NOTE:Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedures 1) Lubricate and install seals. 2) Install piston into body.

3) Place wedge, jaws, and gib plate into body.

4) Attach bottom plate to body. 5) Install cap and retaining ring. Gib Adjustment Procedure

1) Tighten set screws (#30) so that they just just touch the gib plate. 2) Cycle the gripper.

3) Adjust screws so that there is no play in jaws.

Seal Repair Kit Order #’s See Product Data Sheets SK

3

4

1

2

6

5

7

30

(4 SCREWS)

SK

1.170-1.185 (RP)_RP (1.116-1.131) 2/14/11 11:36 PM Page 174

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1.175

RP SERIES

MAINTENANCE

RP-5 & 10 Series Assembled View

1

3

6

2

5

4

Item Qty Name 01 1 Body 02 2 Jaw 03 1 Cap 04 1 Piston 05 1 Plate, Bottom 06 1 Shaft/Wedge 07* 1 Gib 30* 4 SSS,Cup Point * RP-10 Only

NOTE:Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices.

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